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<div class="title">sac_segmentation.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_SEGMENTATION_IMPL_SAC_SEGMENTATION_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_SEGMENTATION_IMPL_SAC_SEGMENTATION_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/sac_segmentation.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment">// Sample Consensus methods</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/lmeds.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/mlesac.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/msac.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/ransac.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/rmsac.h&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/rransac.h&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/prosac.h&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment">// Sample Consensus models</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model.h&gt;</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_circle.h&gt;</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_circle3d.h&gt;</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_cone.h&gt;</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_cylinder.h&gt;</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_line.h&gt;</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_normal_plane.h&gt;</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_parallel_plane.h&gt;</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_normal_parallel_plane.h&gt;</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_parallel_line.h&gt;</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_perpendicular_plane.h&gt;</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_plane.h&gt;</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_sphere.h&gt;</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_normal_sphere.h&gt;</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_stick.h&gt;</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a514043477fc0efc79aaae0b595cc566c">   75</a></span>&#160;<a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a514043477fc0efc79aaae0b595cc566c">pcl::SACSegmentation&lt;PointT&gt;::segment</a> (<a class="code" href="structpcl_1_1_point_indices.html">PointIndices</a> &amp;inliers, <a class="code" href="structpcl_1_1_model_coefficients.html">ModelCoefficients</a> &amp;model_coefficients)</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;{</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="comment">// Copy the header information</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  inliers.header = model_coefficients.header = input_-&gt;header;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordflow">if</span> (!initCompute ()) </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    inliers.indices.clear (); model_coefficients.values.clear ();</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  }</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="comment">// Initialize the Sample Consensus model and set its parameters</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keywordflow">if</span> (!initSACModel (model_type_))</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  {</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::segment] Error initializing the SAC model!\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    deinitCompute ();</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    inliers.indices.clear (); model_coefficients.values.clear ();</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="comment">// Initialize the Sample Consensus method and set its parameters</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  initSAC (method_type_);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keywordflow">if</span> (!sac_-&gt;computeModel (0))</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  {</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::segment] Error segmenting the model! No solution found.\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    deinitCompute ();</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    inliers.indices.clear (); model_coefficients.values.clear ();</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  }</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="comment">// Get the model inliers</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  sac_-&gt;getInliers (inliers.indices);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="comment">// Get the model coefficients</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  Eigen::VectorXf coeff;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  sac_-&gt;getModelCoefficients (coeff);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="comment">// If the user needs optimized coefficients</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keywordflow">if</span> (optimize_coefficients_)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  {</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    Eigen::VectorXf coeff_refined;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    model_-&gt;optimizeModelCoefficients (inliers.indices, coeff, coeff_refined);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    model_coefficients.values.resize (coeff_refined.size ());</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    memcpy (&amp;model_coefficients.values[0], &amp;coeff_refined[0], coeff_refined.size () * sizeof (<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="comment">// Refine inliers</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    model_-&gt;selectWithinDistance (coeff_refined, threshold_, inliers.indices);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    model_coefficients.values.resize (coeff.size ());</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    memcpy (&amp;model_coefficients.values[0], &amp;coeff[0], coeff.size () * sizeof (<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  deinitCompute ();</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;}</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a73f671838c3ec8c0f08a3c78a7cac80b">  133</a></span>&#160;<a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a73f671838c3ec8c0f08a3c78a7cac80b">pcl::SACSegmentation&lt;PointT&gt;::initSACModel</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> model_type)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;{</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keywordflow">if</span> (model_)</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    model_.reset ();</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="comment">// Build the model</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="keywordflow">switch</span> (model_type)</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  {</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="keywordflow">case</span> SACMODEL_PLANE:</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Using a model of type: SACMODEL_PLANE\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      model_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_sample_consensus_model_plane.html">SampleConsensusModelPlane&lt;PointT&gt;</a> (input_, *indices_, random_));</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keywordflow">case</span> SACMODEL_LINE:</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    {</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Using a model of type: SACMODEL_LINE\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      model_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_sample_consensus_model_line.html">SampleConsensusModelLine&lt;PointT&gt;</a> (input_, *indices_, random_));</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    }</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="keywordflow">case</span> SACMODEL_STICK:</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    {</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Using a model of type: SACMODEL_STICK\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      model_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_sample_consensus_model_stick.html">SampleConsensusModelStick&lt;PointT&gt;</a> (input_, *indices_));</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keywordtype">double</span> min_radius, max_radius;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      model_-&gt;getRadiusLimits (min_radius, max_radius);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="keywordflow">if</span> (radius_min_ != min_radius &amp;&amp; radius_max_ != max_radius)</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      {</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting radius limits to %f/%f\n&quot;</span>, getClassName ().c_str (), radius_min_, radius_max_);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        model_-&gt;setRadiusLimits (radius_min_, radius_max_);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keywordflow">case</span> SACMODEL_CIRCLE2D:</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    {</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Using a model of type: SACMODEL_CIRCLE2D\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      model_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_sample_consensus_model_circle2_d.html">SampleConsensusModelCircle2D&lt;PointT&gt;</a> (input_, *indices_, random_));</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keyword">typename</span> SampleConsensusModelCircle2D&lt;PointT&gt;::Ptr model_circle = boost::static_pointer_cast&lt;SampleConsensusModelCircle2D&lt;PointT&gt; &gt; (model_);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="keywordtype">double</span> min_radius, max_radius;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      model_circle-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model.html#acff95be7097cf723a598d3b28e828487">getRadiusLimits</a> (min_radius, max_radius);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="keywordflow">if</span> (radius_min_ != min_radius &amp;&amp; radius_max_ != max_radius)</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      {</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting radius limits to %f/%f\n&quot;</span>, getClassName ().c_str (), radius_min_, radius_max_);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        model_circle-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model.html#a3ed94271a12d7903c0bee9091e9a8f95">setRadiusLimits</a> (radius_min_, radius_max_);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      }</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    }</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keywordflow">case</span> SACMODEL_CIRCLE3D:</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Using a model of type: SACMODEL_CIRCLE3D\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      model_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_sample_consensus_model_circle3_d.html">SampleConsensusModelCircle3D&lt;PointT&gt;</a> (input_, *indices_));</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keyword">typename</span> SampleConsensusModelCircle3D&lt;PointT&gt;::Ptr model_circle3d = boost::static_pointer_cast&lt;SampleConsensusModelCircle3D&lt;PointT&gt; &gt; (model_);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <span class="keywordtype">double</span> min_radius, max_radius;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      model_circle3d-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model.html#acff95be7097cf723a598d3b28e828487">getRadiusLimits</a> (min_radius, max_radius);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      <span class="keywordflow">if</span> (radius_min_ != min_radius &amp;&amp; radius_max_ != max_radius)</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      {</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting radius limits to %f/%f\n&quot;</span>, getClassName ().c_str (), radius_min_, radius_max_);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        model_circle3d-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model.html#a3ed94271a12d7903c0bee9091e9a8f95">setRadiusLimits</a> (radius_min_, radius_max_);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      }</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    }</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="keywordflow">case</span> SACMODEL_SPHERE:</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    {</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Using a model of type: SACMODEL_SPHERE\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      model_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_sample_consensus_model_sphere.html">SampleConsensusModelSphere&lt;PointT&gt;</a> (input_, *indices_, random_));</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keyword">typename</span> SampleConsensusModelSphere&lt;PointT&gt;::Ptr model_sphere = boost::static_pointer_cast&lt;SampleConsensusModelSphere&lt;PointT&gt; &gt; (model_);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keywordtype">double</span> min_radius, max_radius;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      model_sphere-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model.html#acff95be7097cf723a598d3b28e828487">getRadiusLimits</a> (min_radius, max_radius);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <span class="keywordflow">if</span> (radius_min_ != min_radius &amp;&amp; radius_max_ != max_radius)</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      {</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting radius limits to %f/%f\n&quot;</span>, getClassName ().c_str (), radius_min_, radius_max_);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        model_sphere-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model.html#a3ed94271a12d7903c0bee9091e9a8f95">setRadiusLimits</a> (radius_min_, radius_max_);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      }</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keywordflow">case</span> SACMODEL_PARALLEL_LINE:</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Using a model of type: SACMODEL_PARALLEL_LINE\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      model_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html">SampleConsensusModelParallelLine&lt;PointT&gt;</a> (input_, *indices_, random_));</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <span class="keyword">typename</span> SampleConsensusModelParallelLine&lt;PointT&gt;::Ptr model_parallel = boost::static_pointer_cast&lt;SampleConsensusModelParallelLine&lt;PointT&gt; &gt; (model_);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      <span class="keywordflow">if</span> (axis_ != Eigen::Vector3f::Zero () &amp;&amp; model_parallel-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#acf0f7c261106bee13d8974ac37a7fff5">getAxis</a> () != axis_)</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      {</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting the axis to %f, %f, %f\n&quot;</span>, getClassName ().c_str (), axis_[0], axis_[1], axis_[2]);</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        model_parallel-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#acb4097faf67966bb0485748a5621088e">setAxis</a> (axis_);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      }</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="keywordflow">if</span> (eps_angle_ != 0.0 &amp;&amp; model_parallel-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ad9209c7d10fd3703cddd6f4ec4fd2ffc">getEpsAngle</a> () != eps_angle_)</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      {</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting the epsilon angle to %f (%f degrees)\n&quot;</span>, getClassName ().c_str (), eps_angle_, eps_angle_ * 180.0 / M_PI);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        model_parallel-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#af137b97406484a0c837ba428d3b149b4">setEpsAngle</a> (eps_angle_);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      }</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keywordflow">case</span> SACMODEL_PERPENDICULAR_PLANE:</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    {</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Using a model of type: SACMODEL_PERPENDICULAR_PLANE\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      model_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_sample_consensus_model_perpendicular_plane.html">SampleConsensusModelPerpendicularPlane&lt;PointT&gt;</a> (input_, *indices_, random_));</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      <span class="keyword">typename</span> SampleConsensusModelPerpendicularPlane&lt;PointT&gt;::Ptr model_perpendicular = boost::static_pointer_cast&lt;SampleConsensusModelPerpendicularPlane&lt;PointT&gt; &gt; (model_);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <span class="keywordflow">if</span> (axis_ != Eigen::Vector3f::Zero () &amp;&amp; model_perpendicular-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_perpendicular_plane.html#aaf44352e970f637149b89fe5fbc0987a">getAxis</a> () != axis_)</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      {</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting the axis to %f, %f, %f\n&quot;</span>, getClassName ().c_str (), axis_[0], axis_[1], axis_[2]);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        model_perpendicular-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_perpendicular_plane.html#a35205775e3df53ea9e985c6054396cd5">setAxis</a> (axis_);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      }</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keywordflow">if</span> (eps_angle_ != 0.0 &amp;&amp; model_perpendicular-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_perpendicular_plane.html#ab241396258f19c28d7f62e110a7ece60">getEpsAngle</a> () != eps_angle_)</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      {</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting the epsilon angle to %f (%f degrees)\n&quot;</span>, getClassName ().c_str (), eps_angle_, eps_angle_ * 180.0 / M_PI);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        model_perpendicular-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_perpendicular_plane.html#aa8c144af790c202bc5d16f21a1a0b964">setEpsAngle</a> (eps_angle_);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      }</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    }</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="keywordflow">case</span> SACMODEL_PARALLEL_PLANE:</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    {</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Using a model of type: SACMODEL_PARALLEL_PLANE\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      model_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_plane.html">SampleConsensusModelParallelPlane&lt;PointT&gt;</a> (input_, *indices_, random_));</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      <span class="keyword">typename</span> SampleConsensusModelParallelPlane&lt;PointT&gt;::Ptr model_parallel = boost::static_pointer_cast&lt;SampleConsensusModelParallelPlane&lt;PointT&gt; &gt; (model_);</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <span class="keywordflow">if</span> (axis_ != Eigen::Vector3f::Zero () &amp;&amp; model_parallel-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_parallel_plane.html#aefeb372a4a25d5479058607afa5af80b">getAxis</a> () != axis_)</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      {</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting the axis to %f, %f, %f\n&quot;</span>, getClassName ().c_str (), axis_[0], axis_[1], axis_[2]);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        model_parallel-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_parallel_plane.html#ada9dbf484de6306003ce812d0d52c161">setAxis</a> (axis_);</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      }</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <span class="keywordflow">if</span> (eps_angle_ != 0.0 &amp;&amp; model_parallel-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_parallel_plane.html#ae2f5c93aeac4cded37c348d2105cf199">getEpsAngle</a> () != eps_angle_)</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      {</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting the epsilon angle to %f (%f degrees)\n&quot;</span>, getClassName ().c_str (), eps_angle_, eps_angle_ * 180.0 / M_PI);</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        model_parallel-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_parallel_plane.html#a5c2a2129ee16e76d2876d3617d3cd8ff">setEpsAngle</a> (eps_angle_);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      }</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    {</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initSACModel] No valid model given!\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    }</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  }</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;}</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00270"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a2524fe5506c0c43c425dbe492da133ed">  270</a></span>&#160;<a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a2524fe5506c0c43c425dbe492da133ed">pcl::SACSegmentation&lt;PointT&gt;::initSAC</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> method_type)</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;{</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  <span class="keywordflow">if</span> (sac_)</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    sac_.reset ();</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  <span class="comment">// Build the sample consensus method</span></div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <span class="keywordflow">switch</span> (method_type)</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  {</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    <span class="keywordflow">case</span> SAC_RANSAC:</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    {</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSAC] Using a method of type: SAC_RANSAC with a model threshold of %f\n&quot;</span>, getClassName ().c_str (), threshold_);</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      sac_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_random_sample_consensus.html">RandomSampleConsensus&lt;PointT&gt;</a> (model_, threshold_));</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    }</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="keywordflow">case</span> SAC_LMEDS:</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    {</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSAC] Using a method of type: SAC_LMEDS with a model threshold of %f\n&quot;</span>, getClassName ().c_str (), threshold_);</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      sac_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_least_median_squares.html">LeastMedianSquares&lt;PointT&gt;</a> (model_, threshold_));</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    }</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <span class="keywordflow">case</span> SAC_MSAC:</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    {</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSAC] Using a method of type: SAC_MSAC with a model threshold of %f\n&quot;</span>, getClassName ().c_str (), threshold_);</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      sac_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_m_estimator_sample_consensus.html">MEstimatorSampleConsensus&lt;PointT&gt;</a> (model_, threshold_));</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    }</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <span class="keywordflow">case</span> SAC_RRANSAC:</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    {</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSAC] Using a method of type: SAC_RRANSAC with a model threshold of %f\n&quot;</span>, getClassName ().c_str (), threshold_);</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      sac_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_randomized_random_sample_consensus.html">RandomizedRandomSampleConsensus&lt;PointT&gt;</a> (model_, threshold_));</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    }</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="keywordflow">case</span> SAC_RMSAC:</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    {</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSAC] Using a method of type: SAC_RMSAC with a model threshold of %f\n&quot;</span>, getClassName ().c_str (), threshold_);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      sac_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_randomized_m_estimator_sample_consensus.html">RandomizedMEstimatorSampleConsensus&lt;PointT&gt;</a> (model_, threshold_));</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    }</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    <span class="keywordflow">case</span> SAC_MLESAC:</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    {</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSAC] Using a method of type: SAC_MLESAC with a model threshold of %f\n&quot;</span>, getClassName ().c_str (), threshold_);</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      sac_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_maximum_likelihood_sample_consensus.html">MaximumLikelihoodSampleConsensus&lt;PointT&gt;</a> (model_, threshold_));</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    }</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    <span class="keywordflow">case</span> SAC_PROSAC:</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    {</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSAC] Using a method of type: SAC_PROSAC with a model threshold of %f\n&quot;</span>, getClassName ().c_str (), threshold_);</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      sac_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_progressive_sample_consensus.html">ProgressiveSampleConsensus&lt;PointT&gt;</a> (model_, threshold_));</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    }</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  }</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  <span class="comment">// Set the Sample Consensus parameters if they are given/changed</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  <span class="keywordflow">if</span> (sac_-&gt;getProbability () != probability_)</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  {</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSAC] Setting the desired probability to %f\n&quot;</span>, getClassName ().c_str (), probability_);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    sac_-&gt;setProbability (probability_);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  }</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  <span class="keywordflow">if</span> (max_iterations_ != -1 &amp;&amp; sac_-&gt;getMaxIterations () != max_iterations_)</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  {</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSAC] Setting the maximum number of iterations to %d\n&quot;</span>, getClassName ().c_str (), max_iterations_);</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    sac_-&gt;setMaxIterations (max_iterations_);</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  }</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  <span class="keywordflow">if</span> (samples_radius_ &gt; 0.)</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  {</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSAC] Setting the maximum sample radius to %f\n&quot;</span>, getClassName ().c_str (), samples_radius_);</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    <span class="comment">// Set maximum distance for radius search during random sampling</span></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    model_-&gt;setSamplesMaxDist (samples_radius_, samples_radius_search_);</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  }</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;}</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00342"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#ac4d61a5778c41a40192d2e44729502a8">  342</a></span>&#160;<a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#ac4d61a5778c41a40192d2e44729502a8">pcl::SACSegmentationFromNormals&lt;PointT, PointNT&gt;::initSACModel</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> model_type)</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;{</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  <span class="keywordflow">if</span> (!input_ || !normals_)</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;  {</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Input data (XYZ or normals) not given! Cannot continue.\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;  }</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  <span class="comment">// Check if input is synced with the normals</span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  <span class="keywordflow">if</span> (input_-&gt;points.size () != normals_-&gt;points.size ())</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  {</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initSACModel] The number of points inthe input point cloud differs than the number of points in the normals!\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  }</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  <span class="keywordflow">if</span> (model_)</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    model_.reset ();</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  <span class="comment">// Build the model</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;  <span class="keywordflow">switch</span> (model_type)</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  {</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    <span class="keywordflow">case</span> SACMODEL_CYLINDER:</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    {</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Using a model of type: SACMODEL_CYLINDER\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      model_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_sample_consensus_model_cylinder.html">SampleConsensusModelCylinder&lt;PointT, PointNT &gt;</a> (input_, *indices_, random_));</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      <span class="keyword">typename</span> SampleConsensusModelCylinder&lt;PointT, PointNT&gt;::Ptr model_cylinder = boost::static_pointer_cast&lt;SampleConsensusModelCylinder&lt;PointT, PointNT&gt; &gt; (model_);</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160; </div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      <span class="comment">// Set the input normals</span></div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      model_cylinder-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html#a8945c93d6a5f7b436b527794888ec1be">setInputNormals</a> (normals_);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;      <span class="keywordtype">double</span> min_radius, max_radius;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;      model_cylinder-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model.html#acff95be7097cf723a598d3b28e828487">getRadiusLimits</a> (min_radius, max_radius);</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;      <span class="keywordflow">if</span> (radius_min_ != min_radius &amp;&amp; radius_max_ != max_radius)</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;      {</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting radius limits to %f/%f\n&quot;</span>, getClassName ().c_str (), radius_min_, radius_max_);</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;        model_cylinder-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model.html#a3ed94271a12d7903c0bee9091e9a8f95">setRadiusLimits</a> (radius_min_, radius_max_);</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      }</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      <span class="keywordflow">if</span> (distance_weight_ != model_cylinder-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html#a3d5c831e4e7469f3b2e30ab9cad559b3">getNormalDistanceWeight</a> ())</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;      {</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting normal distance weight to %f\n&quot;</span>, getClassName ().c_str (), distance_weight_);</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;        model_cylinder-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html#a490b2a89f60d8fafa2c7fd6b8f761c85">setNormalDistanceWeight</a> (distance_weight_);</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;      }</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      <span class="keywordflow">if</span> (axis_ != Eigen::Vector3f::Zero () &amp;&amp; model_cylinder-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_cylinder.html#ae986df5624723e072fd97312be34e6c0">getAxis</a> () != axis_)</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;      {</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting the axis to %f, %f, %f\n&quot;</span>, getClassName ().c_str (), axis_[0], axis_[1], axis_[2]);</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;        model_cylinder-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_cylinder.html#ace2f091db2093335fd639459867aa503">setAxis</a> (axis_);</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      }</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      <span class="keywordflow">if</span> (eps_angle_ != 0.0 &amp;&amp; model_cylinder-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_cylinder.html#aa18f6b52ed838002c7318ff735505fa5">getEpsAngle</a> () != eps_angle_)</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;      {</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting the epsilon angle to %f (%f degrees)\n&quot;</span>, getClassName ().c_str (), eps_angle_, eps_angle_ * 180.0 / M_PI);</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;        model_cylinder-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_cylinder.html#abaaaf1cf1ce1843e35ff4ca546fec844">setEpsAngle</a> (eps_angle_);</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;      }</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    }</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    <span class="keywordflow">case</span> SACMODEL_NORMAL_PLANE:</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    {</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Using a model of type: SACMODEL_NORMAL_PLANE\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;      model_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_sample_consensus_model_normal_plane.html">SampleConsensusModelNormalPlane&lt;PointT, PointNT&gt;</a> (input_, *indices_, random_));</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      <span class="keyword">typename</span> SampleConsensusModelNormalPlane&lt;PointT, PointNT&gt;::Ptr model_normals = boost::static_pointer_cast&lt;SampleConsensusModelNormalPlane&lt;PointT, PointNT&gt; &gt; (model_);</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      <span class="comment">// Set the input normals</span></div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;      model_normals-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html#a8945c93d6a5f7b436b527794888ec1be">setInputNormals</a> (normals_);</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      <span class="keywordflow">if</span> (distance_weight_ != model_normals-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html#a3d5c831e4e7469f3b2e30ab9cad559b3">getNormalDistanceWeight</a> ())</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      {</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting normal distance weight to %f\n&quot;</span>, getClassName ().c_str (), distance_weight_);</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;        model_normals-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html#a490b2a89f60d8fafa2c7fd6b8f761c85">setNormalDistanceWeight</a> (distance_weight_);</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      }</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    }</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    <span class="keywordflow">case</span> SACMODEL_NORMAL_PARALLEL_PLANE:</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    {</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Using a model of type: SACMODEL_NORMAL_PARALLEL_PLANE\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      model_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html">SampleConsensusModelNormalParallelPlane&lt;PointT, PointNT&gt;</a> (input_, *indices_, random_));</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      <span class="keyword">typename</span> SampleConsensusModelNormalParallelPlane&lt;PointT, PointNT&gt;::Ptr model_normals = boost::static_pointer_cast&lt;SampleConsensusModelNormalParallelPlane&lt;PointT, PointNT&gt; &gt; (model_);</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;      <span class="comment">// Set the input normals</span></div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      model_normals-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html#a8945c93d6a5f7b436b527794888ec1be">setInputNormals</a> (normals_);</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      <span class="keywordflow">if</span> (distance_weight_ != model_normals-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html#a3d5c831e4e7469f3b2e30ab9cad559b3">getNormalDistanceWeight</a> ())</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;      {</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting normal distance weight to %f\n&quot;</span>, getClassName ().c_str (), distance_weight_);</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;        model_normals-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_from_normals.html#a490b2a89f60d8fafa2c7fd6b8f761c85">setNormalDistanceWeight</a> (distance_weight_);</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;      }</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;      <span class="keywordflow">if</span> (distance_from_origin_ != model_normals-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a093e8dad08a893c76a2657c2c2c192c4">getDistanceFromOrigin</a> ())</div>
<div class="line"><a name="l00421"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#ac4d61a5778c41a40192d2e44729502a8">  421</a></span>&#160;      {</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting the distance to origin to %f\n&quot;</span>, getClassName ().c_str (), distance_from_origin_);</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        model_normals-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a6a3870bce36a1018cc73ff5cde6719b6">setDistanceFromOrigin</a> (distance_from_origin_);</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;      }</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;      <span class="keywordflow">if</span> (axis_ != Eigen::Vector3f::Zero () &amp;&amp; model_normals-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a3f475da49431d9fc920ade9a023392b7">getAxis</a> () != axis_)</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;      {</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting the axis to %f, %f, %f\n&quot;</span>, getClassName ().c_str (), axis_[0], axis_[1], axis_[2]);</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;        model_normals-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#ae938d8d5fc0c9dcafd55cbc1f39d480a">setAxis</a> (axis_);</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;      }</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;      <span class="keywordflow">if</span> (eps_angle_ != 0.0 &amp;&amp; model_normals-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#ad05b86f6d1590e555b7da88bfcce5581">getEpsAngle</a> () != eps_angle_)</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;      {</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting the epsilon angle to %f (%f degrees)\n&quot;</span>, getClassName ().c_str (), eps_angle_, eps_angle_ * 180.0 / M_PI);</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;        model_normals-&gt;<a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#acaaf6b902abb758b4d62d76846f77075">setEpsAngle</a> (eps_angle_);</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;      }</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    }</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    <span class="keywordflow">case</span> SACMODEL_CONE:</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    {</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Using a model of type: SACMODEL_CONE\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;      model_.reset (<span class="keyword">new</span> SampleConsensusModelCone&lt;PointT, PointNT&gt; (input_, *indices_, random_));</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;      <span class="keyword">typename</span> SampleConsensusModelCone&lt;PointT, PointNT&gt;::Ptr model_cone = boost::static_pointer_cast&lt;SampleConsensusModelCone&lt;PointT, PointNT&gt; &gt; (model_);</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160; </div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;      <span class="comment">// Set the input normals</span></div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;      model_cone-&gt;setInputNormals (normals_);</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;      <span class="keywordtype">double</span> min_angle, max_angle;</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;      model_cone-&gt;getMinMaxOpeningAngle(min_angle, max_angle);</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;      <span class="keywordflow">if</span> (min_angle_ != min_angle &amp;&amp; max_angle_ != max_angle)</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;      {</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting minimum and maximum opening angle to %f and %f \n&quot;</span>, getClassName ().c_str (), min_angle_, max_angle_);</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;        model_cone-&gt;setMinMaxOpeningAngle (min_angle_, max_angle_);</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;      }</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;      <span class="keywordflow">if</span> (distance_weight_ != model_cone-&gt;getNormalDistanceWeight ())</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;      {</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting normal distance weight to %f\n&quot;</span>, getClassName ().c_str (), distance_weight_);</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;        model_cone-&gt;setNormalDistanceWeight (distance_weight_);</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;      }</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;      <span class="keywordflow">if</span> (axis_ != Eigen::Vector3f::Zero () &amp;&amp; model_cone-&gt;getAxis () != axis_)</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;      {</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting the axis to %f, %f, %f\n&quot;</span>, getClassName ().c_str (), axis_[0], axis_[1], axis_[2]);</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;        model_cone-&gt;setAxis (axis_);</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;      }</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;      <span class="keywordflow">if</span> (eps_angle_ != 0.0 &amp;&amp; model_cone-&gt;getEpsAngle () != eps_angle_)</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;      {</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting the epsilon angle to %f (%f degrees)\n&quot;</span>, getClassName ().c_str (), eps_angle_, eps_angle_ * 180.0 / M_PI);</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;        model_cone-&gt;setEpsAngle (eps_angle_);</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;      }</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;    }</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;    <span class="keywordflow">case</span> SACMODEL_NORMAL_SPHERE:</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;    {</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Using a model of type: SACMODEL_NORMAL_SPHERE\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;      model_.reset (<span class="keyword">new</span> SampleConsensusModelNormalSphere&lt;PointT, PointNT&gt; (input_, *indices_, random_));</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;      <span class="keyword">typename</span> SampleConsensusModelNormalSphere&lt;PointT, PointNT&gt;::Ptr model_normals_sphere = boost::static_pointer_cast&lt;SampleConsensusModelNormalSphere&lt;PointT, PointNT&gt; &gt; (model_);</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;      <span class="comment">// Set the input normals</span></div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;      model_normals_sphere-&gt;setInputNormals (normals_);</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;      <span class="keywordtype">double</span> min_radius, max_radius;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;      model_normals_sphere-&gt;getRadiusLimits (min_radius, max_radius);</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;      <span class="keywordflow">if</span> (radius_min_ != min_radius &amp;&amp; radius_max_ != max_radius)</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;      {</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting radius limits to %f/%f\n&quot;</span>, getClassName ().c_str (), radius_min_, radius_max_);</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;        model_normals_sphere-&gt;setRadiusLimits (radius_min_, radius_max_);</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;      }</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160; </div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;      <span class="keywordflow">if</span> (distance_weight_ != model_normals_sphere-&gt;getNormalDistanceWeight ())</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;      {</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::%s::initSACModel] Setting normal distance weight to %f\n&quot;</span>, getClassName ().c_str (), distance_weight_);</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;        model_normals_sphere-&gt;setNormalDistanceWeight (distance_weight_);</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;      }</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;    }</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;    <span class="comment">// If nothing else, try SACSegmentation</span></div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;    <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;    {</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;      <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_s_a_c_segmentation.html">pcl::SACSegmentation&lt;PointT&gt;::initSACModel</a> (model_type));</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;    }</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;  }</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160; </div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;}</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160; </div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_SACSegmentation(T) template class PCL_EXPORTS pcl::SACSegmentation&lt;T&gt;;</span></div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_SACSegmentationFromNormals(T,NT) template class PCL_EXPORTS pcl::SACSegmentationFromNormals&lt;T,NT&gt;;</span></div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160; </div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;<span class="preprocessor">#endif        </span><span class="comment">// PCL_SEGMENTATION_IMPL_SAC_SEGMENTATION_H_</span></div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_least_median_squares_html"><div class="ttname"><a href="classpcl_1_1_least_median_squares.html">pcl::LeastMedianSquares</a></div><div class="ttdoc">LeastMedianSquares represents an implementation of the LMedS (Least Median of Squares) algorithm....</div><div class="ttdef"><b>Definition:</b> lmeds.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_m_estimator_sample_consensus_html"><div class="ttname"><a href="classpcl_1_1_m_estimator_sample_consensus.html">pcl::MEstimatorSampleConsensus</a></div><div class="ttdoc">MEstimatorSampleConsensus represents an implementation of the MSAC (M-estimator SAmple Consensus) alg...</div><div class="ttdef"><b>Definition:</b> msac.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_maximum_likelihood_sample_consensus_html"><div class="ttname"><a href="classpcl_1_1_maximum_likelihood_sample_consensus.html">pcl::MaximumLikelihoodSampleConsensus</a></div><div class="ttdoc">MaximumLikelihoodSampleConsensus represents an implementation of the MLESAC (Maximum Likelihood Estim...</div><div class="ttdef"><b>Definition:</b> mlesac.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_progressive_sample_consensus_html"><div class="ttname"><a href="classpcl_1_1_progressive_sample_consensus.html">pcl::ProgressiveSampleConsensus</a></div><div class="ttdoc">RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm,...</div><div class="ttdef"><b>Definition:</b> prosac.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_consensus_html"><div class="ttname"><a href="classpcl_1_1_random_sample_consensus.html">pcl::RandomSampleConsensus</a></div><div class="ttdoc">RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm,...</div><div class="ttdef"><b>Definition:</b> ransac.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_randomized_m_estimator_sample_consensus_html"><div class="ttname"><a href="classpcl_1_1_randomized_m_estimator_sample_consensus.html">pcl::RandomizedMEstimatorSampleConsensus</a></div><div class="ttdoc">RandomizedMEstimatorSampleConsensus represents an implementation of the RMSAC (Randomized M-estimator...</div><div class="ttdef"><b>Definition:</b> rmsac.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1_randomized_random_sample_consensus_html"><div class="ttname"><a href="classpcl_1_1_randomized_random_sample_consensus.html">pcl::RandomizedRandomSampleConsensus</a></div><div class="ttdoc">RandomizedRandomSampleConsensus represents an implementation of the RRANSAC (Randomized RAndom SAmple...</div><div class="ttdef"><b>Definition:</b> rransac.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_from_normals_html_ac4d61a5778c41a40192d2e44729502a8"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation_from_normals.html#ac4d61a5778c41a40192d2e44729502a8">pcl::SACSegmentationFromNormals::initSACModel</a></div><div class="ttdeci">virtual bool initSACModel(const int model_type)</div><div class="ttdoc">Initialize the Sample Consensus model and set its parameters.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.hpp:342</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html">pcl::SACSegmentation</a></div><div class="ttdoc">SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models,...</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:66</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a2524fe5506c0c43c425dbe492da133ed"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a2524fe5506c0c43c425dbe492da133ed">pcl::SACSegmentation::initSAC</a></div><div class="ttdeci">virtual void initSAC(const int method_type)</div><div class="ttdoc">Initialize the Sample Consensus method and set its parameters.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.hpp:270</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a514043477fc0efc79aaae0b595cc566c"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a514043477fc0efc79aaae0b595cc566c">pcl::SACSegmentation::segment</a></div><div class="ttdeci">virtual void segment(PointIndices &amp;inliers, ModelCoefficients &amp;model_coefficients)</div><div class="ttdoc">Base method for segmentation of a model in a PointCloud given by &lt;setInputCloud (),...</div><div class="ttdef"><b>Definition:</b> sac_segmentation.hpp:75</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a73f671838c3ec8c0f08a3c78a7cac80b"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a73f671838c3ec8c0f08a3c78a7cac80b">pcl::SACSegmentation::initSACModel</a></div><div class="ttdeci">virtual bool initSACModel(const int model_type)</div><div class="ttdoc">Initialize the Sample Consensus model and set its parameters.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.hpp:133</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_circle2_d_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_circle2_d.html">pcl::SampleConsensusModelCircle2D</a></div><div class="ttdoc">SampleConsensusModelCircle2D defines a model for 2D circle segmentation on the X-Y plane.</div><div class="ttdef"><b>Definition:</b> sac_model_circle.h:61</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_circle3_d_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_circle3_d.html">pcl::SampleConsensusModelCircle3D</a></div><div class="ttdoc">SampleConsensusModelCircle3D defines a model for 3D circle segmentation.</div><div class="ttdef"><b>Definition:</b> sac_model_circle3d.h:62</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cylinder_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cylinder.html">pcl::SampleConsensusModelCylinder</a></div><div class="ttdoc">SampleConsensusModelCylinder defines a model for 3D cylinder segmentation. The model coefficients are...</div><div class="ttdef"><b>Definition:</b> sac_model_cylinder.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cylinder_html_aa18f6b52ed838002c7318ff735505fa5"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cylinder.html#aa18f6b52ed838002c7318ff735505fa5">pcl::SampleConsensusModelCylinder::getEpsAngle</a></div><div class="ttdeci">double getEpsAngle()</div><div class="ttdoc">Get the angle epsilon (delta) threshold.</div><div class="ttdef"><b>Definition:</b> sac_model_cylinder.h:158</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cylinder_html_abaaaf1cf1ce1843e35ff4ca546fec844"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cylinder.html#abaaaf1cf1ce1843e35ff4ca546fec844">pcl::SampleConsensusModelCylinder::setEpsAngle</a></div><div class="ttdeci">void setEpsAngle(const double ea)</div><div class="ttdoc">Set the angle epsilon (delta) threshold.</div><div class="ttdef"><b>Definition:</b> sac_model_cylinder.h:154</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cylinder_html_ace2f091db2093335fd639459867aa503"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cylinder.html#ace2f091db2093335fd639459867aa503">pcl::SampleConsensusModelCylinder::setAxis</a></div><div class="ttdeci">void setAxis(const Eigen::Vector3f &amp;ax)</div><div class="ttdoc">Set the axis along which we need to search for a cylinder direction.</div><div class="ttdef"><b>Definition:</b> sac_model_cylinder.h:164</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cylinder_html_ae986df5624723e072fd97312be34e6c0"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cylinder.html#ae986df5624723e072fd97312be34e6c0">pcl::SampleConsensusModelCylinder::getAxis</a></div><div class="ttdeci">Eigen::Vector3f getAxis()</div><div class="ttdoc">Get the axis along which we need to search for a cylinder direction.</div><div class="ttdef"><b>Definition:</b> sac_model_cylinder.h:168</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_from_normals_html_a3d5c831e4e7469f3b2e30ab9cad559b3"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_from_normals.html#a3d5c831e4e7469f3b2e30ab9cad559b3">pcl::SampleConsensusModelFromNormals::getNormalDistanceWeight</a></div><div class="ttdeci">double getNormalDistanceWeight()</div><div class="ttdoc">Get the normal angular distance weight.</div><div class="ttdef"><b>Definition:</b> sac_model.h:619</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_from_normals_html_a490b2a89f60d8fafa2c7fd6b8f761c85"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_from_normals.html#a490b2a89f60d8fafa2c7fd6b8f761c85">pcl::SampleConsensusModelFromNormals::setNormalDistanceWeight</a></div><div class="ttdeci">void setNormalDistanceWeight(const double w)</div><div class="ttdoc">Set the normal angular distance weight.</div><div class="ttdef"><b>Definition:</b> sac_model.h:612</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_from_normals_html_a8945c93d6a5f7b436b527794888ec1be"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_from_normals.html#a8945c93d6a5f7b436b527794888ec1be">pcl::SampleConsensusModelFromNormals::setInputNormals</a></div><div class="ttdeci">void setInputNormals(const PointCloudNConstPtr &amp;normals)</div><div class="ttdoc">Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.</div><div class="ttdef"><b>Definition:</b> sac_model.h:627</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_a3ed94271a12d7903c0bee9091e9a8f95"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#a3ed94271a12d7903c0bee9091e9a8f95">pcl::SampleConsensusModel::setRadiusLimits</a></div><div class="ttdeci">void setRadiusLimits(const double &amp;min_radius, const double &amp;max_radius)</div><div class="ttdoc">Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate...</div><div class="ttdef"><b>Definition:</b> sac_model.h:379</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_acff95be7097cf723a598d3b28e828487"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#acff95be7097cf723a598d3b28e828487">pcl::SampleConsensusModel::getRadiusLimits</a></div><div class="ttdeci">void getRadiusLimits(double &amp;min_radius, double &amp;max_radius)</div><div class="ttdoc">Get the minimum and maximum allowable radius limits for the model as set by the user.</div><div class="ttdef"><b>Definition:</b> sac_model.h:392</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_line_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_line.html">pcl::SampleConsensusModelLine</a></div><div class="ttdoc">SampleConsensusModelLine defines a model for 3D line segmentation. The model coefficients are defined...</div><div class="ttdef"><b>Definition:</b> sac_model_line.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html">pcl::SampleConsensusModelNormalParallelPlane</a></div><div class="ttdoc">SampleConsensusModelNormalParallelPlane defines a model for 3D plane segmentation using additional su...</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_a093e8dad08a893c76a2657c2c2c192c4"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a093e8dad08a893c76a2657c2c2c192c4">pcl::SampleConsensusModelNormalParallelPlane::getDistanceFromOrigin</a></div><div class="ttdeci">double getDistanceFromOrigin()</div><div class="ttdoc">Get the distance of the plane from the origin.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_a3f475da49431d9fc920ade9a023392b7"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a3f475da49431d9fc920ade9a023392b7">pcl::SampleConsensusModelNormalParallelPlane::getAxis</a></div><div class="ttdeci">Eigen::Vector3f getAxis()</div><div class="ttdoc">Get the axis along which we need to search for a plane perpendicular to.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:152</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_a6a3870bce36a1018cc73ff5cde6719b6"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a6a3870bce36a1018cc73ff5cde6719b6">pcl::SampleConsensusModelNormalParallelPlane::setDistanceFromOrigin</a></div><div class="ttdeci">void setDistanceFromOrigin(const double d)</div><div class="ttdoc">Set the distance we expect the plane to be from the origin</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:169</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_acaaf6b902abb758b4d62d76846f77075"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#acaaf6b902abb758b4d62d76846f77075">pcl::SampleConsensusModelNormalParallelPlane::setEpsAngle</a></div><div class="ttdeci">void setEpsAngle(const double ea)</div><div class="ttdoc">Set the angle epsilon (delta) threshold.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:159</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_ad05b86f6d1590e555b7da88bfcce5581"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#ad05b86f6d1590e555b7da88bfcce5581">pcl::SampleConsensusModelNormalParallelPlane::getEpsAngle</a></div><div class="ttdeci">double getEpsAngle()</div><div class="ttdoc">Get the angle epsilon (delta) threshold.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:163</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_ae938d8d5fc0c9dcafd55cbc1f39d480a"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#ae938d8d5fc0c9dcafd55cbc1f39d480a">pcl::SampleConsensusModelNormalParallelPlane::setAxis</a></div><div class="ttdeci">void setAxis(const Eigen::Vector3f &amp;ax)</div><div class="ttdoc">Set the axis along which we need to search for a plane perpendicular to.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:148</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_plane_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_plane.html">pcl::SampleConsensusModelNormalPlane</a></div><div class="ttdoc">SampleConsensusModelNormalPlane defines a model for 3D plane segmentation using additional surface no...</div><div class="ttdef"><b>Definition:</b> sac_model_normal_plane.h:77</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html">pcl::SampleConsensusModelParallelLine</a></div><div class="ttdoc">SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular co...</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_acb4097faf67966bb0485748a5621088e"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#acb4097faf67966bb0485748a5621088e">pcl::SampleConsensusModelParallelLine::setAxis</a></div><div class="ttdeci">void setAxis(const Eigen::Vector3f &amp;ax)</div><div class="ttdoc">Set the axis along which we need to search for a line.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.h:116</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_acf0f7c261106bee13d8974ac37a7fff5"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#acf0f7c261106bee13d8974ac37a7fff5">pcl::SampleConsensusModelParallelLine::getAxis</a></div><div class="ttdeci">Eigen::Vector3f getAxis() const</div><div class="ttdoc">Get the axis along which we need to search for a line.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.h:120</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_ad9209c7d10fd3703cddd6f4ec4fd2ffc"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#ad9209c7d10fd3703cddd6f4ec4fd2ffc">pcl::SampleConsensusModelParallelLine::getEpsAngle</a></div><div class="ttdeci">double getEpsAngle() const</div><div class="ttdoc">Get the angle epsilon (delta) threshold (in radians).</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.h:129</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_af137b97406484a0c837ba428d3b149b4"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#af137b97406484a0c837ba428d3b149b4">pcl::SampleConsensusModelParallelLine::setEpsAngle</a></div><div class="ttdeci">void setEpsAngle(const double ea)</div><div class="ttdoc">Set the angle epsilon (delta) threshold.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_plane_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_plane.html">pcl::SampleConsensusModelParallelPlane</a></div><div class="ttdoc">SampleConsensusModelParallelPlane defines a model for 3D plane segmentation using additional angular ...</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_plane.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_plane_html_a5c2a2129ee16e76d2876d3617d3cd8ff"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_plane.html#a5c2a2129ee16e76d2876d3617d3cd8ff">pcl::SampleConsensusModelParallelPlane::setEpsAngle</a></div><div class="ttdeci">void setEpsAngle(const double ea)</div><div class="ttdoc">Set the angle epsilon (delta) threshold.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_plane.h:129</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_plane_html_ada9dbf484de6306003ce812d0d52c161"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_plane.html#ada9dbf484de6306003ce812d0d52c161">pcl::SampleConsensusModelParallelPlane::setAxis</a></div><div class="ttdeci">void setAxis(const Eigen::Vector3f &amp;ax)</div><div class="ttdoc">Set the axis along which we need to search for a plane perpendicular to.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_plane.h:118</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_plane_html_ae2f5c93aeac4cded37c348d2105cf199"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_plane.html#ae2f5c93aeac4cded37c348d2105cf199">pcl::SampleConsensusModelParallelPlane::getEpsAngle</a></div><div class="ttdeci">double getEpsAngle()</div><div class="ttdoc">Get the angle epsilon (delta) threshold.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_plane.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_plane_html_aefeb372a4a25d5479058607afa5af80b"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_plane.html#aefeb372a4a25d5479058607afa5af80b">pcl::SampleConsensusModelParallelPlane::getAxis</a></div><div class="ttdeci">Eigen::Vector3f getAxis()</div><div class="ttdoc">Get the axis along which we need to search for a plane perpendicular to.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_plane.h:122</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_perpendicular_plane_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_perpendicular_plane.html">pcl::SampleConsensusModelPerpendicularPlane</a></div><div class="ttdoc">SampleConsensusModelPerpendicularPlane defines a model for 3D plane segmentation using additional ang...</div><div class="ttdef"><b>Definition:</b> sac_model_perpendicular_plane.h:72</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_perpendicular_plane_html_a35205775e3df53ea9e985c6054396cd5"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_perpendicular_plane.html#a35205775e3df53ea9e985c6054396cd5">pcl::SampleConsensusModelPerpendicularPlane::setAxis</a></div><div class="ttdeci">void setAxis(const Eigen::Vector3f &amp;ax)</div><div class="ttdoc">Set the axis along which we need to search for a plane perpendicular to.</div><div class="ttdef"><b>Definition:</b> sac_model_perpendicular_plane.h:121</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_perpendicular_plane_html_aa8c144af790c202bc5d16f21a1a0b964"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_perpendicular_plane.html#aa8c144af790c202bc5d16f21a1a0b964">pcl::SampleConsensusModelPerpendicularPlane::setEpsAngle</a></div><div class="ttdeci">void setEpsAngle(const double ea)</div><div class="ttdoc">Set the angle epsilon (delta) threshold.</div><div class="ttdef"><b>Definition:</b> sac_model_perpendicular_plane.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_perpendicular_plane_html_aaf44352e970f637149b89fe5fbc0987a"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_perpendicular_plane.html#aaf44352e970f637149b89fe5fbc0987a">pcl::SampleConsensusModelPerpendicularPlane::getAxis</a></div><div class="ttdeci">Eigen::Vector3f getAxis()</div><div class="ttdoc">Get the axis along which we need to search for a plane perpendicular to.</div><div class="ttdef"><b>Definition:</b> sac_model_perpendicular_plane.h:125</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_perpendicular_plane_html_ab241396258f19c28d7f62e110a7ece60"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_perpendicular_plane.html#ab241396258f19c28d7f62e110a7ece60">pcl::SampleConsensusModelPerpendicularPlane::getEpsAngle</a></div><div class="ttdeci">double getEpsAngle()</div><div class="ttdoc">Get the angle epsilon (delta) threshold.</div><div class="ttdef"><b>Definition:</b> sac_model_perpendicular_plane.h:136</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_plane_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_plane.html">pcl::SampleConsensusModelPlane</a></div><div class="ttdoc">SampleConsensusModelPlane defines a model for 3D plane segmentation. The model coefficients are defin...</div><div class="ttdef"><b>Definition:</b> sac_model_plane.h:137</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_sphere_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_sphere.html">pcl::SampleConsensusModelSphere</a></div><div class="ttdoc">SampleConsensusModelSphere defines a model for 3D sphere segmentation. The model coefficients are def...</div><div class="ttdef"><b>Definition:</b> sac_model_sphere.h:61</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_stick_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_stick.html">pcl::SampleConsensusModelStick</a></div><div class="ttdoc">SampleConsensusModelStick defines a model for 3D stick segmentation. A stick is a line with an user g...</div><div class="ttdef"><b>Definition:</b> sac_model_stick.h:65</div></div>
<div class="ttc" id="astructpcl_1_1_model_coefficients_html"><div class="ttname"><a href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a></div><div class="ttdef"><b>Definition:</b> ModelCoefficients.h:13</div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
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